Vision-Based Decision Tree Controller Design Method Sensorless Application by using Angle Knowledge


DİRİK M. , KOCAMAZ A. F. , DÖNMEZ E.

24th Signal Processing and Communication Application Conference (SIU), Zonguldak, Türkiye, 16 - 19 Mayıs 2016, ss.1849-1852 identifier identifier

  • Cilt numarası:
  • Doi Numarası: 10.1109/siu.2016.7496123
  • Basıldığı Şehir: Zonguldak
  • Basıldığı Ülke: Türkiye
  • Sayfa Sayıları: ss.1849-1852

Özet

In this study, a new control model for differential drive mobile robots was developed by using image-based decision tree method(DTM). Developed mobile robot control model was designed in an obstacle-free environment. The wheel encoder sensor was designed as a controller capable of independent positioning by using real-time images from overhead cameras on the bird's eye view. In this new method, a virtual triangular area between the target and the robot was created. These triangular base angles were calculated on the image. Decision tree controller was determined as the difference between the base angles by branching. Decision Tree leaves control determines the left and right wheel speeds depending on the difference model design was carried out. The developed new controller model was tested on Khepera IV robot. In practice, the robot's speed and angle of the body was carried uncensored control and it was observed to find the target in different applications. Application of the results and performance of the system was shown.